Abstract
The estimated yaw angles of the BeiDou I06 satellite demonstrated that the satellite experienced midnight- or noon-turn maneuvers when the sun elevation angle above the orbital plane (β angle) was in the range of [− 3°, + 3°] and the orbital angle was in the range of approximately [− 6°, 6°] or [174°, 186°]. The behavior of yaw attitude maneuvers in the vicinity of the midnight and noon points was identical. An alternative yaw attitude model similar to that used for the Galileo Full-Operation-Capacity (FOC) satellites was developed on the basis of the estimated BeiDou I06 yaw angles with an accuracy of approximately 3.4° to reproduce the yaw attitude behaviors. However, a discrepancy in the form of a reversal in yaw direction during the midnight-turn maneuver was observed for BeiDou I06 when the β angle was extremely small (< 0.1°). The derived yaw attitude model was proved to model the yaw attitude of the BeiDou-3 experimental satellites, and reduces the observation residuals in the vicinity of the midnight and noon points to normal levels, and facilitates continuous satellite clock estimation during eclipse periods. Compared to the yaw attitude model developed by the European Space Operations Centre (ESOC), a similar performance has been achieved with maximum yaw differences up to 9.2° when the β angle is close to 0°. The average agreement between the models is about 1°. However, the ESOC model was developed based on a patented eclipsing model, the developed model in this study is open access.
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Acknowledgements
The IGS MGEX, iGMAS, and CMONOC are greatly acknowledged for providing the multi-GNSS data. The research is partially supported by the National Natural Science Foundation of China (Grant nos. 41504009 and 41574030). The numerical calculations in this paper have been done on the supercomputing system in the Supercomputing Center of Wuhan University. Finally, the authors are also grateful for the comments and remarks of two reviewers and editor, which helped to significantly improve the manuscript.
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Wang, C., Guo, J., Zhao, Q. et al. Yaw attitude modeling for BeiDou I06 and BeiDou-3 satellites. GPS Solut 22, 117 (2018). https://doi.org/10.1007/s10291-018-0783-1
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DOI: https://doi.org/10.1007/s10291-018-0783-1